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US 9,314,153 B2Granted
Robotic endoscopic retractor for use in minimally invasive surgery
AssigneeIntuitive Surgical Operations, Inc.
InventorsHubert Stein, Margaret M. Nixon, David W. Bailey, Michael H. Ikeda
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Abstract
Minimally invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
Claims11
A minimally invasive surgical instrument, comprising:
- an elongate shaft;
- and
- a retractor assembly coupled to a distal end of the elongate shaft and adapted to be deployed inside a body organ of a patient, the retractor assembly including:
- first and second blades connected at proximal ends by a pivot assembly such that the blades are angularly displaceable about a pivotal connection of the pivot assembly, and
- an expansion structure supported by the blades,
- wherein the retractor assembly is movable between a closed configuration in which the blades have a first angular displacement and the expansion structure is collapsed and an open configuration in which the blades have a second angular displacement bounding an angular displacement region and the expansion structure is expanded to bound an expansion region, wherein the expansion region bounded by the expanded expansion structure is greater than the angular displacement region bounded by the blades.
3 more elements
A minimally invasive surgical instrument, comprising:
- an elongate shaft;
- and
- a retractor assembly coupled to a distal end of the elongate shaft and adapted to be deployed inside a body organ of a patient, the retractor assembly including:
- first and second blades connected at proximal ends by a pivot assembly such that the blades are angularly displaceable about a pivotal connection of the pivot assembly, and
- a first linkage coupled to a distal end of the first blade;
- a second linkage coupled to distal end of the second blade, wherein the second linkage is pivotally coupled to the first linkage;
- an expansion structure supported by the blades, and
- wherein the retractor assembly is movable between a closed configuration in which the blades have a first angular displacement and the expansion structure is collapsed and an open configuration in which the blades have a second angular displacement bounding an angular displacement region and the expansion structure is expanded to bound an expansion region, wherein the expansion region bounded by the expanded expansion structure is greater than the angular displacement region bounded by the blades.
5 more elements
Dependencies are inferred from the claim text.